#ifndef ARM_DIMENSIONS_H
#define ARM_DIMENSIONS_H

//#Kinematics parameters
//Shoulder coordinates in respect to the Kinect camera
#define SHOULDERX 0.03
#define SHOULDERY 0
#define SHOULDERZ 0.2

//Arm characteristics
#define FIRST_LINK_LENGTH 0.3
#define SECOND_LINK_LENGTH 0.3
#define HAND_CENTER_OFFSET 0.04

//#Collision World Parameters
//Hand characteristics
#define FINGER_SIZE 0.006
#define FINGER_LENGTH 0.04
#define GRASP_WIDTH 0.045
#define HAND_HEIGHT 0.045
#define HAND_LENGTH 0.025


#endif